June 17, 2019, 04:57:44 AM
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 Offline programming

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May 22, 2019, 12:39:58 PM
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Hi guys,

I've never worked with robotics or programming before, that means I'm a completely stupid in this area.
I hope some of you have the time and patience to help me.

In my work I need to send a generic Kuka robot to take an object in a box and place it on the top of an actuator (The position of the objects and actuators are known). After that the robot should place this actuator on a generic XYZ coordinate.

The thing is that I don't have a robot or a simulation program to do it. I need to write the program with help of Orangeedit for example.
All the material I found explains how to teach the robot each point and I'm having trouble to find a material that shows how to write a program from zero.

I imagine this kind of program would be very simple but as I said I'm completely stupid in this area. I simply have no idea how and where to start.

If any of you have anything that could help me I would be really thankfull.

I've tried already some manuals from Kuka website and it is really confusing to me how they explain it specially because I don't have a robot.

PS: I'm totally beginner, so the most obvious information can be helpfull

Thank you guys and I hope I'm not asking too much

Today at 04:57:44 AM
Reply #1



May 22, 2019, 03:02:36 PM
Reply #1



Check out the Expert Programming manual from KUKA. It's a good introduction to KRL (Kuka Robot Language). It'll walk you through the structure of programs and the functions available in KRL. Hopefully you come from a programming background.

Additionally, you can do all the programming, offline (orange edit even provides simple in-line forms), leave the points as '!' and when you're there, the only thing you need to do is teach the points and rename them.

Hope that helps!

May 23, 2019, 05:28:17 PM
Reply #2


Global Moderator
OrangeEdit's "New" menu option will offer you a choice of templates to start from.  You probably want the simple "Module" template.  This will create a program module, both SRC and DAT file, that has the motion initialization at the start, and two HOME positions already inserted (the idea is that you teach your points between the two HOMEs, b/c that's the most typical way of structuring a simple program).

The lower-left frame of the OE window will show a list called Settings (ILF).  You want to expand the Motion one that matches the KSS version your robot is running.  You will probably get a list of PTP, LIN, CIRC.  By putting your cursor on the correct line in the program, then double-clicking the motion you want, OE will insert an inline form at that program line, just as if you were creating points on the pendant.

Then you can copy the program into your robot, and touch up the points physically.

May 24, 2019, 07:43:05 AM
Reply #3


Thank you so much for the infos guys
You are the best!

I think I'm now starting to understand how the KRL language works  :bravo:

I still have a question about the points for movement.
Do I necessarily need to give the coordinates manually to the robot?
If I have the position of the robot and objects in a CAD file for example can't I extract these coordinates and write it directly in the program?
And after that send the program to the robot without further modifications

In my mind it would be the easiest and quickest way to program something. But maybe I'm not thinking as a robot  :icon_mrgreen:

May 24, 2019, 05:48:12 PM
Reply #4


Global Moderator
Yes, but...

The first problem is that the CAD file, and the robot, may be using different coordinate systems.  So you would have to correct for that.  There are multiple ways to do this.

You could then extract the XYZ data of points from the CAD and put them into the robot program directly. However, the rotation data (ABC values in KRL) is more tricky -- robot simulation software can usually be used to export this data in the correct format and frame of reference for a specific brand of robot (every brand uses their own), but generic CAD, probably not.  You might have to do some creative translation.  If you want to play in this area a bit, the free version of RoboDK can help you understand just how this works.

The final problem is that the CAD data seldom ever matches the real world closely enough.  Even the major robot users, like Ford, GM, BMW, etc, struggle with this.  The "holy grail" is to build an entire robotic plant in CAD, create all the programs in simulation, then, when the hardware is all in place, simply download all the programs to all the robots and hit Go.

It never works.

Well, it can be made to work, but requires either the real-world and CAD to match in every detail, or some very careful coordinate measurement and conversion work to correct for the differences.

However, you can create a pretty decent "starter" program, this way, that requires only minor touch-up on the shop floor, with the teach pendant.

May 27, 2019, 06:42:43 AM
Reply #5


Ok, understood  :zwink:
I have enough  material to go on now.
Thank you so much guys, you are life savers


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